Related papers: The Sea Exploration Problem: Data-driven Orienteer…
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
In this paper, we propose a new algorithm for exploratory projection pursuit. The basis of the algorithm is the insight that previous approaches used fairly narrow definitions of interestingness / non interestingness. We argue that allowing…
We introduce and study the general setting of weighted search in which a number of targets, each with a certain weight, are hidden in a star-like environment that consists of $m$ infinite, concurrent rays, with a common origin. A mobile…
Tracking-by-detection approaches are some of the most successful object trackers in recent years. Their success is largely determined by the detector model they learn initially and then update over time. However, under challenging…
Modern recommendation systems rely on exploration to learn user preferences for new items, typically implementing uniform exploration policies (e.g., epsilon-greedy) due to their simplicity and compatibility with machine learning (ML)…
The South China Sea (SCS) is one of the most economically valuable resources on the planet, and as such has become a source of territorial disputes between its bordering nations. Among other things, states compete to harvest the multitude…
Intelligent physical systems as embodied cognitive systems must perform high-level reasoning while concurrently managing an underlying control architecture. The link between cognition and control must manage the problem of converting…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
Building agents that can explore their environments intelligently is a challenging open problem. In this paper, we make a step towards understanding how a hierarchical design of the agent's policy can affect its exploration capabilities.…
Suppose a target is hidden in one of the vertices of an edge-weighted graph according to a known probability distribution. The expanding search problem asks for a search sequence of the vertices so as to minimize the expected time for…
Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…
Autonomous navigation in off-road conditions requires an accurate estimation of terrain traversability. However, traversability estimation in unstructured environments is subject to high uncertainty due to the variability of numerous…
A big challenge in environmental monitoring is the spatiotemporal variation of the phenomena to be observed. To enable persistent sensing and estimation in such a setting, it is beneficial to have a time-varying underlying environmental…
We study the problem of online graph exploration on undirected graphs, where a searcher has to visit every vertex and return to the origin. Once a new vertex is visited, the searcher learns of all neighboring vertices and the connecting…
In the Travelling Salesman Problem, every vertex of an edge-weighted graph has to be visited by an agent who traverses the edges of the graph. In this problem, it is usually assumed that the costs of each edge are given in advance, making…
Although exploratory behaviors are ubiquitous in the animal kingdom, their computational underpinnings are still largely unknown. Behavioral Psychology has identified learning as a primary drive underlying many exploratory behaviors.…
Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…